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You can use a hinge modifier. Then when you make the frame set it to no collision. This way it doesnt go all crazy.

1. make a wall with a spot open where a door would go
2. make a frame around that spot (take off collision) on frame
3.make a door use a modifier to make a hinge
4. always hit ctrl+a when changing a model size!
5.set the door to a rigid body

after messing with the hinge properties you will have a working door when you bump into it.

ps. when placing the door in the scene make sure its lined up with the frame with no collision and not the wall. or the door will be stuck.

How about using a hook? See the attached file. Select the empty and rotate it around the z axis. The procedure would be:

1) Tab into edit mode on the would be parent
2) Select the verts that would be in line with the hinge
3) Shift s cursor to selection.
4) Tab back to object mode
5) Add an empty - it should be automatically placed at the hinge location
6) Select the empty, then shift select the parent
7) tab into edit mode, and select all of the verts that make up the door
8) Ctrl h add hook to selected empty

Now, you may run into a bit of a problem if you move the object, because the hook will hold the door in place. You may be tempted to parent the hook back to the room mesh, but that can cause a lag when moving the entire room. The way I have dealt with this in the past is to create another empty and parent the entire room to the empty, then, parent the hook to the empty. Now moving the main empty will move everything smoothly. See the second attached file for an example - it is a sizable cube.